Prefix LOG and CHECK with AOS_
This prepares us for introducing glog more widely and transitioning
things over where they make sense.
Change-Id: Ic6c208882407bc2153fe875ffc736d66f5c8ade5
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.cc b/y2019/control_loops/drivetrain/event_loop_localizer.cc
index 94ab9ea..67a708a 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.cc
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.cc
@@ -64,10 +64,10 @@
::aos::monotonic_clock::time_point now, double left_encoder,
double right_encoder, double gyro_rate,
double /*longitudinal_accelerometer*/) {
- CHECK(U.allFinite());
- CHECK(::std::isfinite(left_encoder));
- CHECK(::std::isfinite(right_encoder));
- CHECK(::std::isfinite(gyro_rate));
+ AOS_CHECK(U.allFinite());
+ AOS_CHECK(::std::isfinite(left_encoder));
+ AOS_CHECK(::std::isfinite(right_encoder));
+ AOS_CHECK(::std::isfinite(gyro_rate));
localizer_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate, U,
now);
while (frame_fetcher_.FetchNext()) {
@@ -81,11 +81,11 @@
// Note: num_targets and camera are unsigned integers and so don't need to be
// checked for < 0.
if (frame.num_targets > kMaxTargetsPerFrame) {
- LOG(ERROR, "Got bad num_targets %d\n", frame.num_targets);
+ AOS_LOG(ERROR, "Got bad num_targets %d\n", frame.num_targets);
return;
}
if (frame.camera > cameras_.size()) {
- LOG(ERROR, "Got bad camera number %d\n", frame.camera);
+ AOS_LOG(ERROR, "Got bad camera number %d\n", frame.camera);
return;
}
for (int ii = 0; ii < frame.num_targets; ++ii) {
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index 1571fec..d716535 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -54,14 +54,14 @@
}
if (!SanitizeTargets(targets)) {
- LOG(ERROR, "Throwing out targets due to in insane values.\n");
+ AOS_LOG(ERROR, "Throwing out targets due to in insane values.\n");
return;
}
if (t > HybridEkf::latest_t()) {
- LOG(ERROR,
- "target observations must be older than most recent encoder/gyro "
- "update.\n");
+ AOS_LOG(ERROR,
+ "target observations must be older than most recent encoder/gyro "
+ "update.\n");
return;
}
@@ -111,15 +111,15 @@
if (!(::std::isfinite(reading.heading) &&
::std::isfinite(reading.distance) &&
::std::isfinite(reading.skew) && ::std::isfinite(reading.height))) {
- LOG(ERROR, "Got non-finite values in target.\n");
+ AOS_LOG(ERROR, "Got non-finite values in target.\n");
return false;
}
if (reading.distance < 0) {
- LOG(ERROR, "Got negative distance.\n");
+ AOS_LOG(ERROR, "Got negative distance.\n");
return false;
}
if (::std::abs(::aos::math::NormalizeAngle(reading.skew)) > M_PI_2) {
- LOG(ERROR, "Got skew > pi / 2.\n");
+ AOS_LOG(ERROR, "Got skew > pi / 2.\n");
return false;
}
}
@@ -284,7 +284,7 @@
}
if (camera_views.size() == 0) {
- LOG(DEBUG, "Unable to identify potential target matches.\n");
+ AOS_LOG(DEBUG, "Unable to identify potential target matches.\n");
// If we can't get a match, provide H = zero, which will make this
// correction step a nop.
*h = [](const State &, const Input &) { return Output::Zero(); };
@@ -305,7 +305,7 @@
for (size_t ii = 0; ii < target_views.size(); ++ii) {
size_t view_idx = best_frames[ii];
if (view_idx < 0 || view_idx >= camera_views.size()) {
- LOG(ERROR, "Somehow, the view scorer failed.\n");
+ AOS_LOG(ERROR, "Somehow, the view scorer failed.\n");
h_functions->push_back(
[](const State &, const Input &) { return Output::Zero(); });
dhdx_functions->push_back([](const State &) {
@@ -319,10 +319,10 @@
const TargetView target_view = target_views[ii];
const Scalar match_score = scores(ii, view_idx);
if (match_score > kRejectionScore) {
- LOG(DEBUG,
- "Rejecting target at (%f, %f, %f, %f) due to high score.\n",
- target_view.reading.heading, target_view.reading.distance,
- target_view.reading.skew, target_view.reading.height);
+ AOS_LOG(DEBUG,
+ "Rejecting target at (%f, %f, %f, %f) due to high score.\n",
+ target_view.reading.heading, target_view.reading.distance,
+ target_view.reading.skew, target_view.reading.height);
h_functions->push_back(
[](const State &, const Input &) { return Output::Zero(); });
dhdx_functions->push_back([](const State &) {
@@ -456,7 +456,7 @@
// If we reach here and best_match = -1, that means that no potential
// targets were generated by the camera, and we should never have gotten
// here.
- CHECK(best_match != -1);
+ AOS_CHECK(best_match != -1);
::aos::SizedArray<bool, max_targets_per_frame> sub_views = used_views;
sub_views[ii] = true;
::std::array<bool, num_targets> sub_targets = used_targets;
diff --git a/y2019/control_loops/drivetrain/replay_localizer.cc b/y2019/control_loops/drivetrain/replay_localizer.cc
index ce0ac09..93282c8 100644
--- a/y2019/control_loops/drivetrain/replay_localizer.cc
+++ b/y2019/control_loops/drivetrain/replay_localizer.cc
@@ -139,7 +139,7 @@
replayer_.AddHandler<frc971::control_loops::drivetrain::LocalizerControl>(
drivetrain, "localizer_control",
[this](const frc971::control_loops::drivetrain::LocalizerControl &msg) {
- LOG_STRUCT(DEBUG, "localizer_control", msg);
+ AOS_LOG_STRUCT(DEBUG, "localizer_control", msg);
localizer_.ResetPosition(msg.sent_time, msg.x, msg.y, msg.theta,
msg.theta_uncertainty,
!msg.keep_current_theta);
@@ -186,7 +186,7 @@
fd = open(filename, O_RDONLY);
}
if (fd == -1) {
- PLOG(FATAL, "couldn't open file '%s' for reading", filename);
+ AOS_PLOG(FATAL, "couldn't open file '%s' for reading", filename);
}
replayer_.OpenFile(fd);
@@ -204,7 +204,7 @@
}
replayer_.CloseCurrentFile();
- PCHECK(close(fd));
+ AOS_PCHECK(close(fd));
Plot();
}
diff --git a/y2019/control_loops/drivetrain/target_selector.cc b/y2019/control_loops/drivetrain/target_selector.cc
index a338181..3e43db9 100644
--- a/y2019/control_loops/drivetrain/target_selector.cc
+++ b/y2019/control_loops/drivetrain/target_selector.cc
@@ -25,13 +25,13 @@
ball_mode_ = superstructure_goal_fetcher_->suction.gamepiece_mode == 0;
}
if (hint_fetcher_.Fetch()) {
- LOG_STRUCT(DEBUG, "selector_hint", *hint_fetcher_);
+ AOS_LOG_STRUCT(DEBUG, "selector_hint", *hint_fetcher_);
// suggested_target is unsigned so we don't check for >= 0.
if (hint_fetcher_->suggested_target < 4) {
target_hint_ =
static_cast<SelectionHint>(hint_fetcher_->suggested_target);
} else {
- LOG(ERROR, "Got invalid suggested target.\n");
+ AOS_LOG(ERROR, "Got invalid suggested target.\n");
}
}
*robot_pose_.mutable_pos() << state.x(), state.y(), 0.0;
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index ec9e2e5..ff9bb13 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -30,7 +30,7 @@
SuperstructureQueue::Output *output,
SuperstructureQueue::Status *status) {
if (WasReset()) {
- LOG(ERROR, "WPILib reset, restarting\n");
+ AOS_LOG(ERROR, "WPILib reset, restarting\n");
elevator_.Reset();
wrist_.Reset();
intake_.Reset();
@@ -155,7 +155,7 @@
new_status_light->blue = blue;
if (!new_status_light.Send()) {
- LOG(ERROR, "Failed to send lights.\n");
+ AOS_LOG(ERROR, "Failed to send lights.\n");
}
}